System and method for providing guidance towards a far-point position for a vehicle implementing a satellite-based guidance system

ABSTRACT

The present invention is a method for providing guidance towards a far-point position for a vehicle implementing a satellite-based guidance system. The method  200  includes capturing an image  202.  The method  200  further includes providing the image in a digital format to an algorithm  204.  The method  200  further includes isolating far-point pixelized data of the provided image  206.  The method  200  further includes generating data for causing a steering control system of the vehicle implementing the satellite-based guidance system to maintain the vehicle on a straight-line path towards the far-point position  208.

FIELD OF THE INVENTION

The present invention relates to the field of satellite-based guidancesystems, such as Global Positioning System (GPS)-based guidance systems,and particularly to a system and method for providing guidance towards afar-point position for a vehicle implementing a satellite-based guidancesystem.

BACKGROUND OF THE INVENTION

Satellite-based guidance systems, such as GPS-based guidance systems,are commonly used today as a navigation aid in cars, airplanes, ships,computer-controlled harvesters, mine trucks and other vehicles. Forinstance, GPS-based guidance systems utilized in farming implements mayallow for precise application of crop protection products, such asfertilizers, pesticides or lime. However, current GPS-based guidancesystems may experience difficulty guiding when heavy foliage or otherpermanent obstructions (mountains, buildings, etc.) prevent or inhibitGPS signals from being accurately received by the system. A number ofGPS-based systems may include Inertial Measurement Units (IMUs) orTerrain Compensation Units (TCUs) to provide guidance capabilities underGPS-obstructed conditions. However, IMUs and TCUs tend to experienceproblems with drift (i.e., an ever-increasing error between IMU/TCUdetermined location and an actual location.

Therefore, it may be desirable to have a system and method for providingfar-point vision augmentation functionality in a satellite-basedguidance system which addresses the above-referenced problems andlimitations of the current solutions.

SUMMARY OF THE INVENTION

Accordingly, an embodiment of the present invention is directed to amethod for providing guidance towards a far-point position for a vehicleimplementing a satellite-based guidance system. The method includescapturing an image. The method further includes providing the image in adigital format to an algorithm. The method further includes isolatingfar-point pixelized data of the provided image. The method furtherincludes generating data for causing a steering control system of thevehicle implementing the satellite-based guidance system to maintain thevehicle on a straight-line path towards the far-point position.

A further embodiment of the present invention is directed to a guidancesystem, including: a satellite-based navigation system including: anantenna configured for collecting satellite-based navigation systemsignals; a receiver communicatively coupled with the antenna, thereceiver configured for receiving the collected satellite-basednavigation system signals and determining location of a vehicleimplementing the guidance system; a display communicatively coupled withthe receiver, the display configured for displaying satellite-basednavigation system course information; and a controller communicativelycoupled with the display and the receiver, the controller configured forallowing user input commands to be entered via the display; and a visionrecognition augmentation system communicatively coupled with thesatellite-based navigation system, the vision recognition augmentationsystem including: a camera configured for providing an image to theguidance system, wherein an algorithm isolates far-point pixelized dataof the provided image and generates at least one steering error forcausing a steering control system of the vehicle to maintain the vehicleimplementing the guidance system on a straight-line path towards thefar-point position.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory onlyand are not necessarily restrictive of the invention as claimed. Theaccompanying drawings, which are incorporated in and constitute a partof the specification, illustrate embodiments of the invention andtogether with the general description, serve to explain the principlesof the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The numerous advantages of the present invention may be betterunderstood by those skilled in the art by reference to the accompanyingfigures in which:

FIG. 1 is a block diagram illustration of a guidance system inaccordance with an exemplary embodiment of the present invention;

FIG. 2 is a flow chart illustrating a method for providing guidancetowards a far-point position for a vehicle implementing asatellite-based guidance system in accordance with an exemplaryembodiment of the present invention;

FIG. 3 is a flow chart illustrating steps included in generating datafor causing a steering control system of a vehicle to maintain thevehicle on a straight-line path towards the far-point position, whereingenerating said data is a step included in a method, as shown in FIG. 2,for providing guidance towards a far-point position for a vehicleimplementing a satellite-based guidance system in accordance with anexemplary embodiment of the present invention; and

FIG. 4 is an illustration of an image provided to the guidance system inaccordance with an exemplary embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

Reference will now be made in detail to the presently preferredembodiments of the invention, examples of which are illustrated in theaccompanying drawings.

FIG. 1 illustrates a block diagram configuration for a guidance system100 in accordance with an exemplary embodiment of the present invention.In a present embodiment the guidance system 100 includes asatellite-based navigation system 102. For example, the satellite-basednavigation system may be a GPS (Global Positioning System) system. Infurther embodiments, the satellite-based navigation system 102 may be aDGPS (Differential Global Positioning System), a Galileo PositioningSystem, a Global Navigation Satellite System (GNSS), or the like. In theexemplary embodiment, the satellite-based navigation system 102 includesan antenna 104 configured for collecting satellite-based navigationsystem signals. For instance, the antenna 104 may be a GPS antennaconfigured for collecting GPS signals. Further, the antenna 104 may bewater-proof/water resistant and/or include magnetic mounts for allowingthe antenna to be secured to the top of the cab of a vehicle, such as atractor or applicator.

In the illustrated embodiment, the satellite-based navigation system 102further includes a receiver 106 communicatively coupled with the antenna104. The receiver 106 is configured for receiving the collectedsatellite-based navigation system signals and determining the locationof a vehicle which is implementing the guidance system 100. The locationinformation may then be utilized by the guidance system 100 for creatingan accurate navigation path. For example, the receiver 106 may be aDifferential Global Positioning System (DGPS) receiver. Further, thereceiver 106 may be configured for receiving various types of signals,such as Wide-Area Augmentation Systems (WAAS) signals, Coast Guardsignals, subscription L-band signals or a combination thereof. Stillfurther, the type of signal received by the receiver 106 may beadjustably controlled by a user. In additional embodiments, the antenna104 and the receiver 106 may be integrated into a single unit.

In the exemplary embodiment, the guidance system 100 further includes adisplay 108 communicatively coupled with the receiver 106. The display108 is configured for displaying satellite-based navigation systemcourse information. For instance, the display 108 may be configured fordisplaying GPS course information, such as a visual depiction or imageof a current path of travel of a vehicle implementing the guidancesystem 100. In further embodiments, the display 108 may be a light baror moving lines display.

In the illustrated embodiment, the guidance system 100 further includesa controller 110 communicatively coupled with the display 108. Thedisplay 108 is communicatively coupled with the receiver 106 via thecontroller 110. The controller 110 is configured for allowing user inputcommands to be entered via the display 108, such as for selecting menuoptions in the guidance system 100.

In the exemplary embodiment, the guidance system 100 further includes avision recognition augmentation system 112 communicatively coupled withthe satellite-based navigation system 102. The vision recognitionaugmentation system 112 includes a camera 114 configured for providingan image 400 (FIG. 4) to the guidance system 100. For instance, thecamera 114 may be a digital camera configured for providing a digitalimage 400 to the guidance system 100. In the exemplary embodiment, theguidance system 100 is configured with a steering control system 124 formaintaining a vehicle which is implementing the satellite-basednavigation system 102 on a desired course. For example, the guidancesystem 100 may maintain the vehicle on a straight-line path 410, such asthe furrow/field swath illustrated in FIG. 4, towards a far-pointposition 420, such as the silo illustrated in FIG. 4, upon which thecamera 114 of the guidance system is focused. In the present embodiment,the guidance system 100 utilizes an algorithm which isolates far-pointpixelized data of the provided image 400. Further, the algorithmgenerates data for causing the steering control system 124 of thevehicle to maintain the vehicle on a straight-line path 410 towards thefar-point position 420. For example, the algorithm may utilize thefar-point pixelized data to cause the steering control system 124 of thevehicle to maintain the vehicle on the straight-line path 410. Forinstance, the algorithm may detect any change in a yaw position of thefar-point pixelized data of the provided image 400 in subsequentlycaptured images. The algorithm may further utilize the far-pointpixelized data to calculate adjustments the steering control system 124may need to make to ensure that the far-point pixelized data ismaintained in a fixed yaw position in the subsequently captured images,thereby ensuring that the vehicle is traveling along the straight-linepath 410. This may result in a guidance system 100 which can provideguidance during periods when satellite-based guidance system signals arenot being received.

In additional embodiments, the guidance system 100 may further include aclosed, non-satellite based system, such as an Inertial Measurement Unit(IMU) 116 for detecting altitude, location and motion of a vehicleimplementing the IMU. For example, the IMU may use a combination ofaccelerometers and angular rate sensors for tracking how a vehicleimplementing the IMU is moving and its location.

In alternative embodiments, the guidance system 100 may also include aTerrain Compensation Unit (TCU) 118. The TCU 118 may be configured forenhancing performance of the guidance system 100 under conditions whichmay cause a vehicle implementing the guidance system to roll, such aswhen the vehicle is on uneven or sloped ground. Under such conditions,guidance system errors 100 may occur due to the vehicle rolling to oneside. The TCU 118 enhances guidance system 100 performance bycompensating for such errors.

Further, in embodiments in which an IMU 116 or TCU 118 are beingimplemented, the algorithm may utilize the far-point pixelized data incombination with satellite-based guidance system data, such assatellite-based guidance system course information for causing thesteering control system 124 of the vehicle to maintain the vehicle onthe straight-line path 410. For example, the algorithm may generate oneor more steering errors such that the steering control system 124 maymaintain the isolated far-point pixelized data in a fixed yaw positionon one or more subsequently captured images. If the yaw position of thedata in the subsequently captured images remains fixed, this indicatesthat vehicle is traveling on the straight-line path 410. This may resultin a guidance system 100 which provides constant drift corrections toIMU 116 or TCU 118 devices being used in the guidance system 100.

In the illustrated embodiment, the guidance system 100 further includesa data logger 120. The data logger 120 may be configured for storingfield attribute data. For example, in the case of a tractor orapplicator implementing the guidance system 100, the data logger 120 maymark field attributes such as rocks and drainage areas, or keep track ofwhere material was applied and save such data for future reference.Further, the data logger 120 may include a visual display for providinga visual depiction of said field attribute data. In further embodiments,the guidance system 100 may include a sound device 122 for alerting auser of field attributes, such as when the vehicle nears a hazard in thefield, where product has been applied, and/or when the vehicle needs tosteer.

FIG. 2 is a flow chart illustrating a method for providing guidancetowards a far-point position for a vehicle implementing asatellite-based guidance system 200 in accordance with an exemplaryembodiment of the present invention. The method 200 includes capturingan image 202. For instance, the image may be captured by a digitalcamera focused on the far-point position. The method 200 furtherincludes providing the image in a digital format to an algorithm 204.The method 200 further includes isolating far-point pixelized data ofthe provided image 206. The method 200 further includes generating datafor causing a steering control system of the vehicle to maintain thevehicle on a straight-line path towards the far-point position 208. Infurther embodiments (as shown in FIG. 3), the data generating step 208may include the step of maintaining the isolated far-point pixelizeddata of the provided image in a fixed yaw position on subsequentlycaptured images 210. For instance, if the yaw position for far-pointpixelized data of the provided image is maintained in subsequentlycaptured images, it is a positive indication that the camera and,accordingly, the vehicle implementing the camera, are traveling astraight line course towards the far-point position. In additionalembodiments, the data generating step 208 may include the step ofcombining the far-point pixelized data with satellite-based guidancesystem data 212. For instance, in embodiments where the guidance systemincludes an IMU or a TCU, the guidance system may experience “drift” oraccumulated error, as previously discussed. In such embodiments, thefar-point pixelized data may be combined with satellite-based guidancesystem data (such as satellite-based guidance system course information)to generate data which includes at least one steering error forproviding ongoing drift corrections and causing the steering controlsystem to maintain the vehicle on the straight-line path towards thefar-point position.

It is contemplated that the invention may take the form of an entirelyhardware embodiment, an entirely software embodiment or an embodimentcontaining both hardware and software elements. In a preferredembodiment, the invention is implemented in software, which includes butis not limited to firmware, resident software, microcode, and the like.Furthermore, the invention may take the form of a computer programproduct accessible from a computer-usable or computer-readable mediumproviding program code for use by or in connection with a computer orany instruction execution system. For the purposes of this description,a computer-usable or computer readable medium may be any apparatus thatmay contain, store, communicate, propagate, or transport the program foruse by or in connection with the instruction execution system,apparatus, or device.

It is further contemplated that the medium may be an electronic,magnetic, optical, electromagnetic, infrared, or semiconductor system(or apparatus or device) or a propagation medium. Examples of acomputer-readable medium include a semiconductor or solid state memory,magnetic tape, a removable computer diskette, a random access memory(RAM), a read-only memory (ROM), a rigid magnetic disk and an opticaldisk. Current examples of optical disks include compact disk -read onlymemory (CD-ROM), compact disk -read/write (CD-R/W) and DVD.

A data processing system suitable for storing and/or executing programcode will include at least one processor coupled directly or indirectlyto memory elements through a system bus. The memory elements may includelocal memory employed during actual execution of the program code, bulkstorage, and cache memories which provide temporary storage of at leastsome program code in order to reduce the number of times code must beretrieved from bulk storage during execution.

Input/output or I/O devices (including but not limited to keyboards,microphone, speakers, displays, pointing devices, and the like) may becoupled to the system either directly or through intervening I/Ocontrollers.

Network adapters may also be coupled to the system to enable the dataprocessing system to become couple to other data processing systems orstorage devices through intervening private or public networks. Modems,cable modem and Ethernet cards are just a few of the currently availabletypes of network adapters.

It is understood that the specific order or hierarchy of steps in theforegoing disclosed methods are examples of exemplary approaches. Basedupon design preferences, it is understood that the specific order orhierarchy of steps in the method can be rearranged while remainingwithin the scope of the present invention. The accompanying methodclaims present elements of the various steps in a sample order, and arenot meant to be limited to the specific order or hierarchy presented.

It is believed that the present invention and many of its attendantadvantages is to be understood by the foregoing description, and it isapparent that various changes may be made in the form, construction andarrangement of the components thereof without departing from the scopeand spirit of the invention or without sacrificing all of its materialadvantages. The form herein before described being merely an explanatoryembodiment thereof, it is the intention of the following claims toencompass and include such changes.

1. A method for providing guidance towards a far-point position for avehicle implementing a satellite-based guidance system, comprising:capturing a provided image and subsequently captured images; providingthe images in a digital format to an algorithm; isolating far-pointpixelized data of the images; and generating data for causing a steeringcontrol system of the vehicle to maintain the vehicle on a straight-linepath towards the far-point position based on a detection of change inyaw position for the far-point pixelized data in the provided image withrespect to the subsequently captured images.
 2. A method as claimed inclaim 1, wherein the step of generating data for causing the steeringcontrol system of the vehicle to maintain the vehicle on thestraight-line path towards the far-point position includes: maintainingthe isolated far-point pixelized data of the provided image in a fixedyaw position on the subsequently captured images.
 3. A method as claimedin claim 2, wherein the step of generating data for causing the steeringcontrol system of the vehicle to maintain the vehicle on thestraight-line path towards the far-point position further includes:combining the far-point pixelized data with satellite-based guidancesystem data.
 4. A method as claimed in claim 3, wherein thesatellite-based guidance system data is satellite-based guidance systemcourse information
 5. A method as claimed in claim 4, wherein the imageis captured via a digital camera, the digital camera being focused onthe far-point position. 6-10. (canceled)
 11. A guidance system,comprising: a satellite-based navigation system including: an antennaconfigured for collecting satellite-based navigation system signals; areceiver communicatively coupled with the antenna, the receiverconfigured for receiving the collected satellite-based navigation systemsignals and determining location of a vehicle implementing the guidancesystem; a display communicatively coupled with the receiver, the displayconfigured for displaying satellite-based navigation system courseinformation; and a controller communicatively coupled with the displayand the receiver, the controller configured for allowing user inputcommands to be entered via the display; and a vision recognitionaugmentation system communicatively coupled with the satellite-basednavigation system, the vision recognition augmentation systemcomprising: a camera configured for providing a provided image andsubsequently captured images to the guidance system, wherein analgorithm isolates far-point pixelized data of the provided image andgenerates at least one steering error for causing a steering controlsystem of the vehicle to maintain the vehicle implementing the guidancesystem on a straight-line path towards the far-point position based on adetection of change in yaw position for the far-point pixelized data inthe provided image with respect to the subsequently captured images. 12.A guidance system as claimed in claim 11, wherein the provided image isa digital image.
 13. A guidance system as claimed in claim 12, whereinthe guidance system further includes an inertial measurement unit (IMU)for providing vehicular attitude, location and motion information.
 14. Aguidance system as claimed in claim 13, wherein the guidance systemfurther includes a terrain compensation unit (TCU).
 15. A guidancesystem as claimed in claim 14, wherein the guidance system furtherincludes a data logger configured for storing field attribute data. 16.A guidance system as claimed in claim 15, wherein the guidance systemfurther includes a sound device configured for alerting a user of fieldattributes.
 17. A guidance system as claimed in claim 16, wherein thecamera is a digital camera.
 18. A guidance system as claimed in claim17, wherein the isolated far-point pixelized data of the provided imageis maintained in a fixed yaw position on subsequently captured images,thereby allowing the guidance system to maintain the vehicle on thestraight-line path towards the far-point position.
 19. A guidance systemas claimed in claim 18, wherein the satellite-based navigation system isa global positioning system (GPS) navigation system
 20. A guidancesystem as claimed in claim 19, wherein the receiver is a DifferentialGPS (DGPS) receiver.
 21. The method according to claim 1 wherein thegenerating data comprises generating data for causing a steering controlsystem of the vehicle to maintain the vehicle on a straight-line pathtowards the far-point position based on the detection of change in yawposition for the far-point pixelized data, and detecting attitude,location and motion of the vehicle via an inertial measurement unit,where a fixed yaw position in the provided image and the subsequentlycaptured images facilitates provision of drift correction to theinertial measurement unit.